#include "sys.h"

  extern   float MidAngle;            
  extern   float ActualAngle;        
  extern   float err;              
  extern   float err_last;         
  extern   float Kp,Ki,Kd;           
  extern   float voltage;          
  extern   float integral;           
	extern	 int flag;
	extern	 int count;
	extern 	 int  out;
	extern   int inde;
	
float PID_realize(void);
void direction_confirm(void);
void encoder_Init(void);


